JP4138437B2 - Logistics equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a logistics apparatus used in an automatic warehouse, and more specifically, a stacker crane that moves along each front surface of a plurality of shelves to load and unload articles, and a stacker crane that is positioned on the front surface of a predetermined shelf. The present invention relates to a physical distribution device that uses a traverser that moves in a direction orthogonal to a traveling direction.
[0002]
[Prior art]
A logistics apparatus having a shelf having a plurality of rack parts and a stacker crane capable of traveling along the front surface of the shelf, and using a stacker crane for loading and unloading containers storing articles in a predetermined rack part is known. It has been. There is also known a distribution device that arranges a plurality of shelves, and stores articles in and out of a predetermined rack portion among the rack portions of the plurality of shelves, and further uses a distribution shelf as a plurality of shelves. Devices are also known. In such a physical distribution apparatus using a plurality of shelves, a traverser that moves a stacker crane in a direction orthogonal to the traveling direction thereof is used.
As a physical distribution apparatus using the plurality of shelves, stacker cranes, and traversers described above, for example, those described in “Patent Document 1” or “Patent Document 2” are known.
[0003]
[Patent Document 1]
JP-A-10-175707 (page 3-5, FIG. 1)
[Patent Document 2]
JP-A-10-218314 (page 3-5, FIG. 1)
[0004]
[Problems to be solved by the invention]
In the above-described logistics apparatus, the plurality of shelves are arranged in a row with the front surfaces thereof in series, and the traverser moves along either the left or right side edge of each shelf, and the stacker crane is moved from the traverser to the shelf. It is configured to move along the frontage surface.
[0005]
However, in such a configuration, if the storage capacity of the shelf is increased, the width of the shelf will be widened, and the travel distance of the stacker crane becomes longer when goods are loaded into and removed from the back of the shelf. There is a problem that the working time becomes long and the working efficiency is lowered. In order to solve this problem, a conveyor for delivering articles to the stacker crane is arranged at the back of the shelf. However, if this conveyor line is provided, the number of shelves to be installed is reduced accordingly. However, the storage amount is reduced.
[0006]
The present invention solves the above-described problems and provides a physical distribution device capable of maximizing the amount of storage without reducing work efficiency.
[0007]
[Means for Solving the Problems]
The invention according to claim 1 is provided so as to be movable along a plurality of shelves having a plurality of rack portions for storing articles, and front surfaces of the plurality of shelves, and a predetermined one of the plurality of rack portions. A plurality of shelves, wherein the plurality of shelves includes a stacker crane that loads and unloads articles with respect to a rack portion, and a traverser that is loaded with the stacker crane and is movable in a direction perpendicular to the moving direction of the stacker crane. Are arranged on both sides of the traverser movement path, respectively, so that the stacker crane can pass through the traverser when moving, and when the stacker crane is loaded on the traverser, the stacker crane is placed in a predetermined position. Positioning means for positioning, wherein the positioning means is arranged such that the stacker crane First positioning means for positioning when loaded on the traverser from one side of the moving path and positioning when the stacker crane is loaded on the traverser from the other side of the moving path of the traverser And a second positioning means .
[0008]
According to a second aspect of the present invention, in the physical distribution device according to the first aspect, the movement path of the stacker crane is further arranged in parallel to each front face of the plurality of shelves and on the same straight line through the traverser. It is characterized by being.
[0009]
The invention according to claim 3 is the physical distribution device according to claim 1 or 2 , wherein the operation of the stacker crane is controlled by radio .
[0010]
According to a fourth aspect of the present invention, in the physical distribution apparatus according to any one of the first to third aspects, the plurality of shelves are movable shelves that are respectively movable in a direction perpendicular to the front surface. And
[0013]
【Example】
FIG. 1 is a plan view of a physical distribution apparatus employing an embodiment of the present invention. In the figure, a distribution device 1 includes fixed shelves 2A and 2B, fixed shelves 2C and 2D arranged at positions symmetrical to the respective fixed shelves 2A and 2B via a space 3 provided in the center of the distribution device 1, Moving shelves 4A, 4B, 4C, 4D, 4E, 4F, 4G, 4H, 4I arranged between the fixed shelves 2A, 2B, moving shelves 4J, 4K, 4L, 4M arranged between the fixed shelves 2C, 2D 4N, 4O, 4P, 4Q, 4R, traverser 5, stacker crane 6, loading / unloading cart 7, storage conveyor 8 and the like.
[0014]
Each of the fixed shelves 2A, 2B and 2C, 2D has a front opening on a surface facing each other, and a rack portion (six in this example) for storing articles is formed in each front opening.
Each of the movable shelves 4 </ b> A to 4 </ b> R has a plurality of wheels (not shown) at the lower part thereof, and each wheel is placed on a plurality of movable shelf rails 10 laid on the floor surface 9. Each of the movable shelves 4A to 4R has front openings on the front and rear surfaces in the moving direction, and rack sections (six in this example) for storing articles are formed in the front openings. Each of the movable shelves 4A to 4R is individually moved on the movable shelf rail 10 in a direction perpendicular to the front face by driving a motor (not shown) based on a remote command from an operation panel (not shown). .
[0015]
As shown in FIGS. 2 and 3, the traverser 5 has a saddle 11 at its lower portion, and the saddle 11 is provided with a plurality of traverser traveling wheels 12 (four in this example). As shown in FIG. 4, each wheel 12 is placed on a pair of traverser rails 13 laid on the floor surface 9 of the space 3 as a traverser moving path. The saddle 11 has a crane placement portion 11a formed at a central portion one step lower than the other portions, and supports the stacker crane 6 on the left and right sides of the traverse travel direction of the crane placement portion 11a. A pair of support portions 14 are provided for the purpose.
[0016]
The support portions 14 are respectively arranged on the two support portion attachment portions 11b provided on the saddle 11 one step higher than the crane placement portion 11a, and are arranged at the four corners of the support portion attachment portion 11b. It is mainly comprised from the support | pillar 14a and the some connection member 14b which connects each support | pillar 14a. Each support 14a is fixed to the support portion mounting portion 11b by screwing or welding, and each connecting member 14b is also fixed to each support 14a by screwing or welding. Among each connecting member 14b, a pair of ones positioned at the uppermost part of each supporting portion attaching portion 11b are arranged so as to extend toward the crane mounting portion 11a, and a stacker crane 6 described later is used as a crane. The contact part 14c which contacts a part of stacker crane 6 when it mounts on the mounting part 11a is formed. In addition, a traverser motor 15 for causing the traverser 5 to travel is disposed on one support portion mounting portion 11b.
[0017]
As shown in FIGS. 5 and 6, the stacker crane 6 has a saddle 16 at the lower portion thereof, and a plurality of wheels 17 for crane traveling (two in this example) are rotatably attached to the saddle 16. It has been. Each wheel 17 is placed on one of a plurality of crane rails 18 </ b> A to 18 </ b> T (see FIG. 1) as a movement path of the stacker crane laid on the floor surface 9. In addition, at the lower part, engaged portions that are engaged with engaging portions (not shown) provided on the fixed shelves 2A to 2D or the movable shelves 4A to 4R are provided during traveling, so that the stacker crane 6 falls down. It is configured to be able to travel stably without having to. The stacker crane 6 is moved on the rails 18 for cranes along the front face of each shelf by driving a traveling motor 19 attached to the saddle 16 based on a remote command from an operation panel (not shown). .
[0018]
On the upper surface of the saddle 16, one mast 20 is erected almost vertically. The mast 20 has a base end integrally fixed to the upper surface of the saddle 16 by a method such as bolting or welding, and supports an elevating member 22 having a load receiving portion 21 integrally. The elevating member 22 is attached to the mast 20 via a rack and pinion mechanism or a chain mechanism, and is raised and lowered along the mast 20 by an elevating motor 23 (see FIG. 6) attached to the saddle 16.
[0019]
On the side of the mast 20 opposite to the side on which the lifting member 22 is attached, a reinforcing member 24 is attached for suppressing the shaking of the mast 20 mainly in the crane traveling direction. As shown in FIGS. 5 and 6, the reinforcing member 24 has a prismatic shape in which metal materials are joined by welding or the like, and the bottom 24 a is fixed to the upper surface of the saddle 16 by welding or screwing.
[0020]
A plurality of connecting members 24b are provided at substantially equal intervals from the upper part of the reinforcing member 24 to the middle and slightly below. The connecting member 24b is substantially U-shaped in plan view, and one end of the connecting member 24b extends in the vertical direction along the mast 20, and a side column 24c is connected to the bottom 24a at one end. It is fixed. The other end portions of the connecting members 24b facing the one end portions are fixed to the mast 20, respectively.
[0021]
Between each side pillar 24c, a plurality of metal column members 24d are arranged at equal intervals from the upper end to the vicinity of the lower end. The cylindrical member 24d located at the lowermost end is arranged at a position where an operator can put his / her foot, and a ladder is formed by each cylindrical member 24d. Instead of the column member 24d, a member having a shape that can be used as a ladder, such as a prism, a cylinder, a square tube, or a plate, may be used.
[0022]
As shown in FIG. 6, stays 24e extending toward the sides are attached to both sides of the connecting member 24b located approximately in the middle of the stacker crane 6 in the height direction. Each roller 24f is rotatably attached. Each roller 24f is provided so as to come into contact with the contact portion 14c when the stacker crane 6 is placed on the crane placement portion 11a of the traverser 5, respectively.
[0023]
The rails 18A to 18J for the cranes are positions where the stacker crane 6 can move along the front surface of the fixed shelves 2A and 2B or the movable shelves 4A to 4I regardless of which of the movable shelves 4A to 4I is moved. Respectively. Also, the crane rails 18K to 18T are arranged at positions symmetrical to the crane rails 18A to 18J through the space 3, and the crane rail 18A, the crane rail 18K, and the crane rail 18B Crane rail 18L, crane rail 18C and crane rail 18M, crane rail 18D and crane rail 18N, crane rail 18E and crane rail 18O, crane rail 18F and crane rail 18P, crane rail 18G The crane rail 18Q, the crane rail 18H and the crane rail 18R, the crane rail 18I and the crane rail 18S, and the crane rail 18J and the crane rail 18T are arranged on the same straight line through the space 3. Yes.
[0024]
The rails 18A to 18T for each crane are determined in length so that the stacker crane 6 can carry in / out goods to any rack portion of each shelf (see the broken line in FIG. 1), and the space 3 The end on the side is determined so as not to interfere with the moving traverser 5. The crane rails 18 </ b> A to 18 </ b> T are determined to have the same height as the crane placing portion 11 a of the traverser 5, so that the stacker crane 6 can be placed on the traverser 5 smoothly. It is configured.
[0025]
The loading / unloading cart 7 is disposed so as to be able to run on a cart rail 31 laid in the space 3, and reciprocates between the traverser 5 and the storage conveyor 8 based on a remote command. The article is delivered to the placed stacker crane 6. The storage conveyor 8 is disposed at a position closer to the front than the fixed shelves 2B and 2D, and articles are transferred between the worker and the physical distribution device 1 on the storage conveyor 8.
[0026]
FIG. 7 shows a state where the stacker crane 6 is placed on the traverser 5. Radio antennas 25 and 26 are attached to the traverser 5 and the stacker crane 6 at positions where they do not interfere with each other in this state. An operation command sent from the operation panel (not shown) to the stacker crane 6 is sent from the wireless antenna 25 to the wireless antenna 26.
[0027]
From the above-described configuration, each movable shelf 4 is moved so that a passage is formed between the movable shelves 4D and 4E and the symmetrical movable shelves 4M and 4N via the space 3 as shown in FIG. By moving the stacker crane 6 on the crane rails 18E and 18O provided on the same straight line in the passage, the stacker crane 6 can pass through the traverser 5, and with respect to the shelves arranged on both sides of the traverser 5. Goods can be efficiently loaded and unloaded, and storage space for the goods can be improved, and work efficiency can be greatly improved.
[0028]
In the conventional physical distribution apparatus, as indicated by reference numeral 27 in FIG. 8, each fixed shelf 2 and each movable shelf 4 are arranged only on one side of the traverser 28, so that the structure of the traverser 28 is supported by the traverser 5. The support portion 28a equivalent to the portion 14 can be provided in three directions except for the side surface in the movement direction of the stacker crane 6, and as shown in FIG. 9, the rear surface side in the movement direction of the stacker crane 6 and the traverser 28 opposed thereto. A receiver 29 and a transmitter 30 for optical communication could be arranged. However, in the physical distribution device 1 of the present invention, since the stacker crane 6 can pass through the traverser 5, optical communication cannot be used as the operation command transmission means (when the stacker crane 6 moves, the transmitter and the receiver Therefore, wireless is used as the operation command transmission means.
[0029]
In the above embodiment, the stacker crane 6 can pass through the traverser 5. However, when the stacker crane 6 is actually moved to an arbitrary position, when the stacker crane 6 is loaded on the traverser 5, Thus, the positioning accuracy can be maintained at a high level by stopping the stacker crane 6 at the origin position, which is a predetermined position, and moving the stacker crane 6 from the origin position to an arbitrary position.
[0030]
In the conventional logistics apparatus 27 described above, the stacker crane 6 is placed only on one side with respect to the traverser 28. Therefore, as shown in FIG. 10, the traverser 28 is provided with a proximity sensor 32 and the stacker crane 6 has a dog 33. And detecting the dog 33 by the proximity sensor 32 and stopping the movement of the stacker crane 6, the stacker crane 6 can be positioned at the origin position.
[0031]
On the other hand, in the physical distribution device 1 according to the present embodiment, the stacker crane 6 is mounted on the traverser from two directions, so that the stacker crane 6 moves from one side with respect to the traverser 5 as shown in FIG. Error (indicated by a solid line in FIG. 11) and when moving from the other side (indicated by a broken line in FIG. 11), an X error occurs at the origin position.
[0032]
In order to prevent this problem, in this embodiment, as shown in FIG. 12, two dogs 34 and 35 are attached to the stacker crane 6 instead of the dog 33, and the stacker crane 6 is attached to the traverser 5 from one side. When the stacker crane 6 moves from the other side with respect to the traverser 5, the proximity sensor 32 and the dog 35 position the stacker crane 6. Can be positioned. In this case, the proximity sensor 32 and the dogs 34 and 35 constitute the positioning means 36, the proximity sensor 32 and the dog 34 constitute the first positioning means 37, and the proximity sensor 32 and the dog 35 constitute the second positioning means 38. Is done.
[0033]
In the above embodiment, the positioning means 36 is constituted by one proximity sensor 32 and the two dogs 34, 35. However, the positioning means is constituted by two proximity sensors and two dogs, and one proximity sensor is provided. The sensor and one dog may constitute the first positioning means, and the other proximity sensor and the other dog may constitute the second positioning means.
[0034]
【The invention's effect】
According to the present invention, the plurality of shelves are respectively arranged on both sides of the traverser moving path, and the stacker crane is configured to be able to pass through the traverser when moving, so the shelves arranged on both sides of the traverser On the other hand, goods can be efficiently loaded / unloaded, the storage space for goods can be improved, and work efficiency can be greatly improved.
[Brief description of the drawings]
FIG. 1 is a schematic plan view of a physical distribution apparatus adopting an embodiment of the present invention.
FIG. 2 is a side view of a traverser used in an embodiment of the present invention.
FIG. 3 is a front view of a traverser used in an embodiment of the present invention.
FIG. 4 is a partial perspective view of a physical distribution device for explaining an embodiment of the present invention.
FIG. 5 is a front view of a stacker crane used in an embodiment of the present invention.
FIG. 6 is a side view of a stacker crane used in one embodiment of the present invention.
FIG. 7 is a schematic view showing a state in which a stacker crane is placed on a traverser according to an embodiment of the present invention.
FIG. 8 is a plan view showing a conventional physical distribution apparatus.
FIG. 9 is a schematic diagram for explaining communication means between a traverser and a stacker crane used in a conventional physical distribution apparatus.
FIG. 10 is a schematic diagram for explaining positioning means used in a conventional physical distribution apparatus.
FIG. 11 is a schematic diagram for explaining a problem when a positioning means used in a conventional physical distribution apparatus is applied to the present invention.
FIG. 12 is a schematic view showing positioning means used in an embodiment of the present invention.
[Explanation of symbols]
1 Logistics equipment 2A-2D Shelf (fixed shelf)
4A-4R shelf (movable shelf)
5 Traverser 6 Stacker crane 13 Traverser travel path (traverser rail)
18A-18T Stacker crane travel path (crane rails)
25, 26 wireless (wireless antenna)
36 Positioning means 37 First positioning means 38 Second positioning means

Claims (4)

A plurality of shelves having a plurality of rack parts for storing articles, and movable along each front surface of the plurality of shelves, and the articles are inserted into a predetermined rack part of the plurality of rack parts. In a logistics apparatus having a stacker crane to be delivered, and a traverser that is loaded on the stacker crane and is movable in a direction perpendicular to the moving direction of the stacker crane,
The plurality of shelves are respectively arranged on both sides of the traverser moving path so that the stacker crane can pass through the traverser when moving , and the stacker crane is loaded when the stacker crane is loaded on the traverser. And positioning means for positioning the stacker crane when the stacker crane is loaded on the traverser from one side of the traverser moving path. And a second positioning means for performing positioning when loaded on the traverser from the other side of the traverser moving path . The physical distribution device according to claim 1,
2. A physical distribution apparatus, wherein a movement path of the stacker crane is arranged parallel to each front surface of the plurality of shelves and on the same straight line through the traverser. The physical distribution device according to claim 1 or 2 ,
The logistics apparatus is characterized in that the operation of the stacker crane is controlled by radio . The physical distribution device according to any one of claims 1 to 3 ,
The physical distribution device, wherein the plurality of shelves are movable shelves that are respectively movable in a direction perpendicular to the front surface .

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